Intelligent agricultural power machine for planting on barren mountains and slopes and planting method thereof

Abstract

This invention relates to the field of agricultural machinery technology, and discloses an intelligent agricultural power machine for planting on barren hills and slopes and its planting method. The intelligent agricultural power machine for planting on barren hills and slopes includes a drive vehicle, a planting mechanism mounted on the drive vehicle, and a drilling mechanism mounted at the rear end of the drive vehicle. Tracks are provided at the bottom of the drive vehicle. The drilling mechanism includes a housing box, a hydraulic cylinder fixedly mounted on the top wall of the housing box, a mounting frame mounted inside the housing box, and a spiral drill rod mounted below the mounting frame. This invention achieves the function of pre-detection of underground obstacles at the drilling location by opening a hollow channel inside the spiral drill rod and embedding a telescopic probe, combined with the setting of a lifting drive component and a pressure sensor. By adopting the operation logic of detection before drilling, it can identify hard obstacles such as rocks and dense hard soil layers in the drilling path in advance, avoiding the spiral drill rod from directly drilling into obstacles and causing overload deformation or breakage, effectively reducing the probability of damage to the spiral drill rod.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an intelligent agricultural power machine for planting on barren hillsides and slopes, and its planting method. Background Technology

[0002] With the ongoing ecological restoration of mountainous areas and afforestation of barren hills, the demand for large-scale planting in barren hillside areas is constantly increasing. Due to factors such as the large undulations of mountainous terrain and poor access conditions, ordinary planting machinery is difficult to operate in these areas. Tracked power machinery, with its strong terrain adaptability, has gradually become a commonly used piece of equipment for planting operations on barren hillsides.

[0003] The drilling mechanism of existing similar planting equipment mostly adopts a structure of spiral drill rod with feed hydraulic cylinder. During operation, the hydraulic cylinder directly pushes the drill rod assembly downward, while the rotation drive device drives the spiral drill rod to rotate to cut the soil. After drilling the cultivation hole at the target point, the seedling is placed into the hole through the matching transplanting mechanism to complete the planting.

[0004] However, the soil conditions in barren mountain and slope areas are uneven, and the underground is often mixed with obstacles such as rocks and dense hard soil layers. Existing drilling mechanisms do not have the function of advance detection. During the direct drilling process, the drill rod is prone to encountering hard obstacles, causing the drill rod to overload, deform or even break, resulting in a high equipment damage rate and high downtime maintenance costs. Moreover, the drilling feed load cannot be dynamically adjusted according to geological conditions, resulting in insufficient operational stability and difficulty in meeting the needs of efficient planting in complex mountain environments.

[0005] Therefore, it is necessary to provide an intelligent agricultural power machine and its planting method for planting on barren hills and slopes to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent agricultural power machine and planting method for planting on barren hills and slopes. By opening a hollow channel inside the auger rod and embedding a telescopic probe, combined with the setting of lifting drive components and pressure sensors, the underground obstacle detection function of the hole to be drilled is realized. By adopting the operation logic of probing before drilling, hard obstacles such as rocks and dense hard soil layers in the drilling path can be identified in advance, avoiding the auger rod from directly drilling into obstacles and causing overload deformation or breakage.

[0007] The above-mentioned technical objective of the present invention is achieved through the following technical solution: an intelligent agricultural power machine for planting on barren hills and slopes, comprising a drive vehicle body, a planting mechanism disposed on the drive vehicle body, and a drilling mechanism disposed at the rear end of the drive vehicle body. The bottom of the drive vehicle body is provided with tracks. The drilling mechanism includes a housing box, a hydraulic cylinder fixedly installed on the top wall of the housing box, a mounting frame disposed in the housing box, and a spiral drill rod disposed below the mounting frame. A rotary drive assembly for driving the spiral drill rod to rotate is disposed in the mounting frame. A pressure sensor is fixedly installed at the output end of the hydraulic cylinder, and the detection end of the pressure sensor is fixedly connected to the top wall of the mounting frame. A hollow channel is provided through the spiral drill rod, and a telescopic probe is movably disposed inside the hollow channel. A lifting drive assembly for driving the telescopic probe to rise and fall is disposed inside the mounting frame.

[0008] A further configuration of the present invention is as follows: the lifting drive assembly includes a fixed cylinder, a piston, and an infusion tube. The top end of the fixed cylinder is fixedly connected to the top inner wall of the mounting frame. The piston is slidably installed inside the fixed cylinder. The top end of the telescopic probe extends into the fixed cylinder and is fixedly connected to the piston. One end of the infusion tube is connected to the top of the fixed cylinder.

[0009] A further configuration of the present invention is as follows: a cylinder is fixedly installed inside the mounting frame, a second hydraulic cylinder is fixedly installed on the lower surface of the cylinder, a second piston is slidably installed inside the cylinder, the output end of the second hydraulic cylinder is fixedly connected to the second piston, the end of the infusion pipe away from the fixed cylinder is connected to the top of the cylinder, and the cylinder, the infusion pipe and the fixed cylinder are filled with hydraulic oil.

[0010] A further configuration of the present invention is as follows: a rod body is fixedly provided at the top of the auger drill rod, the top end of the rod body extends into the mounting frame, and the rod body is rotatably connected to the mounting frame; the rotary drive assembly includes a first gear, a second gear, and a first motor; the first gear is fixedly mounted on the top of the rod body; the first motor is fixedly installed in the mounting frame; the second gear is fixedly connected to the output end of the first motor; and the first gear and the second gear mesh with each other.

[0011] A further configuration of the present invention is as follows: a top plate is fixedly provided on the top of the driving vehicle body, a supporting outer frame is fixedly provided on the outer side of the top plate, the accommodating box is fixedly connected to the supporting outer frame, the planting mechanism includes a mechanical arm provided on the driving vehicle body and a clamping assembly installed at the end of the mechanical arm, a bearing plate is fixedly provided on the top of the top plate, and a plurality of positioning grooves are provided on the bearing plate.

[0012] A further configuration of the present invention is as follows: the clamping assembly includes a mounting base, a third motor, a drive base, a drive rod, and a clamping seat. The mounting base is fixedly mounted on the robotic arm, the third motor is fixedly mounted on the mounting base, the output end of the third motor is fixedly connected to the drive base, two drive rods are mounted on the drive base, and clamping seats are mounted on the ends of the two drive rods away from the mounting base. The drive base is provided with a drive structure for driving the two drive rods to move synchronously in opposite directions, and arc-shaped clamping plates are fixedly mounted on opposite sides of the two clamping seats.

[0013] A further feature of the present invention is that the clamp is rotatably connected to the drive rod, the drive rod is provided with a locking knob for locking the clamp, and the side of the clamp away from the arc-shaped clamp is provided with a shearing blade.

[0014] A further feature of the present invention is that: a sliding groove is provided on the top plate, a slide block is slidably installed in the sliding groove, the bottom of the robotic arm is fixedly connected to the slide block, a drive screw is rotatably installed in the sliding groove, the drive screw passes through the slide block and is threadedly connected to the slide block, and a second motor is fixedly installed on the side wall of the top plate, the output end of the second motor is fixedly connected to the end of the drive screw.

[0015] A further configuration of the present invention is as follows: a plurality of jet components are provided on the supporting outer frame, each jet component including a fixed base, a rotating base, a jet head, and a rotating shaft; the fixed base is fixedly connected to the supporting outer frame; the rotating base is rotatably connected to the fixed base via the rotating shaft; the rotating shaft is fixedly connected to the rotating base; the jet head is fixedly mounted on the rotating base; a fourth motor is fixedly mounted on the inner side of the supporting outer frame; a worm gear is fixedly mounted on the output end of the fourth motor; a worm wheel is fixedly fitted on the rotating shaft; the worm gear meshes with the worm wheel; a connection port is provided through the interior of the rotating shaft; the connection port communicates with the jet head; an air tank is fixedly mounted on the bottom of the drive vehicle body; the air tank is connected to the connection port via an air supply pipe.

[0016] A method for planting on barren hills and slopes, employing any of the aforementioned intelligent agricultural power machinery for planting on barren hills and slopes, includes the following steps: S1. Drive the vehicle body to the planting area on the barren hillside via the tracks to complete the positioning of the drilling points; S2. Control the lifting drive component to output action, drive the telescopic probe to move downward along the hollow channel inside the auger rod, so that the bottom end of the telescopic probe protrudes from the bottom end face of the auger rod. S3. Control the output end of hydraulic cylinder one to extend downward, push the mounting frame to feed downward along the inside of the receiving box, so that the telescopic probe extends into the soil at the drilling point. During the feeding process, the axial pressure data between the output end of hydraulic cylinder one and the mounting frame is collected in real time by the pressure sensor. S4. When the pressure value detected by the pressure sensor exceeds the preset threshold, it is determined that there is a hard underground obstacle at the point. The hydraulic cylinder is controlled to drive the mounting frame and telescopic probe to retract upward. After adjusting the drilling point by driving the vehicle body, S2 to S3 are repeated to re-detect. When the pressure value detected by the pressure sensor is within the preset normal range, it is determined that there is no obstacle in the drilling path at the point. S5. Start the rotary drive assembly in the installation frame to drive the auger drill rod to rotate around its own axis. At the same time, control the hydraulic cylinder one to continuously feed downwards so that the auger drill rod drills the soil to form a cultivation hole. During the drilling process, the pressure sensor continuously monitors the axial drilling load and adjusts the feed speed of the hydraulic cylinder one according to the load change. S6. After drilling is completed, the hydraulic cylinder is retracted to drive the auger rod out of the cultivation hole. The seedling is then placed into the cultivation hole by the planting mechanism on the drive vehicle to complete the single-plant planting operation.

[0017] In summary, the present invention has the following beneficial effects: By opening a hollow channel inside the auger drill rod and embedding a telescopic probe, combined with the lifting drive assembly and pressure sensor, the present invention realizes the function of pre-detection of underground obstacles at the drilling location. Adopting a pre-detection-before-drilling operation logic, it can identify hard obstacles such as rocks and dense hard soil layers in advance in the drilling path, avoiding overload deformation or breakage of the auger drill rod due to direct drilling into obstacles, effectively reducing the probability of damage to the auger drill rod, reducing the frequency and cost of equipment downtime maintenance, and improving the reliability of drilling operations. Through the linkage between the pressure sensor and hydraulic cylinder one, real-time monitoring and dynamic control of axial drilling load during drilling are realized, allowing for adjustment of the feed speed according to actual geological conditions, adapting to the complex working conditions of uneven geology in barren hillside areas. Simultaneously, this structure integrates obstacle detection and drilling operations into the same drill rod assembly, combined with the terrain adaptability of the tracked drive vehicle, improving the intelligence level and operational stability of mountain planting operations, and meeting the operational needs of large-scale barren hillside planting. This invention utilizes an arc-shaped clamping plate and shearing blade in the clamping assembly that can rotate around the drive rod, enabling the same actuator to perform dual functions: stable clamping and transplanting of seedling substrate and clearing obstacles such as weeds and branches along the path, eliminating the need for a separate obstacle clearing mechanism. Through the coordinated arrangement of the sliding seat, drive screw, and high-density counterweight within the sliding groove, the same sliding drive mechanism simultaneously achieves lateral adjustment of the robotic arm's working position and dynamic control of the vehicle's center of gravity, eliminating the need for an additional counterweight adjustment device and effectively improving structural integration. The adjustable-angle jet assembly on the supporting frame, combined with air supply from the air tank, enables two working modes: weed suppression and obstacle clearing, and assisted posture escape. It can also be used in conjunction with the robotic arm's lifting action to further enhance the ability to escape from stuck situations. Overall, the invention significantly enhances the equipment's adaptability to complex terrain and diverse working conditions on barren hillsides, achieving integrated collaborative operation of drilling, transplanting, obstacle clearing, and driving posture control, effectively improving the operational efficiency and reliability of mountain planting. Attached Figure Description

[0018] Figure 1 This is one of the three-dimensional structural schematic diagrams of the present invention; Figure 2 This is the second three-dimensional structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the structure of the housing, hydraulic cylinder 1, and spiral drill rod of the present invention. Figure 4 This is a schematic diagram of the mounting frame, pressure sensor, and auger drill rod of the present invention. Figure 5 This is a schematic diagram of the structure of the rotary drive assembly and the lifting drive assembly of the present invention; Figure 6 This is a cross-sectional view of the lifting drive assembly of the present invention; Figure 7 This is a schematic diagram of the jet assembly of the present invention; Figure 8 This is a schematic diagram of the clamping assembly of the present invention; Figure 9 This is a schematic diagram of the drive rod, clamp, and arc-shaped clamp of the present invention; Figure 10 This is a schematic diagram of the top plate, slide block, and drive screw of the present invention.

[0019] In the diagram: 1. Drive vehicle body; 101. Top plate; 102. Track; 103. Support frame; 104. Slide rail; 2. Reception box; 3. Hydraulic cylinder one; 4. Mounting frame; 5. Pressure sensor; 6. Spiral drill rod; 601. Rod body; 602. Hollow channel; 7. Fixed cylinder; 8. Telescopic probe; 9. Piston one; 10. Cylinder barrel; 11. Piston two; 12. Infusion tube; 13. Hydraulic cylinder two; 14. Gear one; 15. Gear two; 16. Motor one; 17. Slide block; 18. Drive screw 19. Rod; 20. Motor II; 21. Robotic Arm; 22. Mounting Base; 23. Motor III; 24. Drive Base; 25. Drive Rod; 26. Clamping Seat; 27. Shearing Blade; 28. Arc-shaped Clamping Plate; 29. ​​Locking Knob; 30. Air Tank; 31. Fixed Base; 32. Rotating Base; 33. Jet Head; 34. Rotating Shaft; 35. Worm Gear; 36. Motor IV; 37. Worm Gear; 38. Connecting Port; 39. Vision Module I; 30. Vision Module II; 31. Carrier Plate; 32. Positioning Groove. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] Please see Figures 1-6In this embodiment of the invention, an intelligent agricultural power machine for planting on barren hillsides includes a drive vehicle body 1, a planting mechanism mounted on the drive vehicle body 1, and a drilling mechanism mounted at the rear end of the drive vehicle body 1. The drive vehicle body 1 has tracks 102 at its bottom. The drilling mechanism includes a housing 2, a hydraulic cylinder 3 fixedly mounted on the top wall of the housing 2, a mounting frame 4 inside the housing 2, and a spiral drill rod 6 below the mounting frame 4. A rotation drive assembly for driving the spiral drill rod 6 to rotate is located inside the mounting frame 4. A pressure sensor 5 is fixedly mounted on the output end of the hydraulic cylinder 3, and the detection end of the pressure sensor 5 is fixedly connected to the top wall of the mounting frame 4. A hollow channel 602 is provided through the spiral drill rod 6, and a telescopic probe 8 is movably mounted inside the hollow channel 602. A lifting drive assembly for driving the telescopic probe 8 to rise and fall is located inside the mounting frame 4. The first-stage hydraulic cylinder employs a multi-stage hydraulic cylinder. Before the formal drilling operation, the lifting drive assembly first drives the telescopic probe 8 to extend downwards along the hollow channel 602 to below the end of the auger rod 6. Then, the output end of the hydraulic cylinder 3 extends, pushing the mounting frame 4 downwards as a whole, so that the telescopic probe 8 first extends into the soil at the drilling location. During the feeding process, the pressure sensor 5 collects the axial pressure data between the output end of the hydraulic cylinder 3 and the mounting frame 4 in real time and feeds it back to the intelligent control module. When the end of the telescopic probe 8 contacts obstacles such as underground rocks or dense hard soil layers, the axial resistance increases rapidly, and the detection value of the pressure sensor 5 exceeds the preset threshold. The control system then determines that the point is not suitable for drilling, and immediately controls the hydraulic cylinder 3 to retract. The working position is adjusted by driving the vehicle body 1, and the point detection is restarted. If the pressure value is maintained within the normal threshold range throughout the detection process, it is determined that there are no hard obstacles in the drilling path, and the formal drilling process can begin. During formal drilling operations, pressure sensor 5 continuously monitors the axial load of the drilling feed. When the auger drill rod 6 encounters a sudden hard stratum causing a surge in load, it can promptly provide feedback to adjust the feed speed, preventing the drill rod from deforming or breaking due to overload. This structure adopts a "probe before drilling" operating logic, which can adapt to complex working conditions such as uneven geology on barren hillsides and randomly distributed underground rocks. It avoids drilling obstacles in advance, effectively reducing the probability of damage to the auger drill rod 6 and minimizing downtime for maintenance. At the same time, it achieves dynamic control of drilling load through pressure feedback, improving the intelligence and operational stability of drilling operations, and is suitable for automated planting drilling operations in complex mountainous environments.

[0022] In this embodiment, preferably, the lifting drive assembly includes a fixed cylinder 7, a piston 9, and an infusion tube 12. The top end of the fixed cylinder 7 is fixedly connected to the top inner wall of the mounting frame 4. The piston 9 is slidably installed inside the fixed cylinder 7. The top end of the telescopic probe 8 extends into the fixed cylinder 7 and is fixedly connected to the piston 9. One end of the infusion tube 12 is connected to the top of the fixed cylinder 7. A cylinder 10 is fixedly installed inside the mounting frame 4. A hydraulic cylinder 13 is fixedly installed on the lower surface of the cylinder 10. A piston 11 is slidably installed inside the cylinder 10. The output end of the hydraulic cylinder 13 is fixedly connected to the piston 11. The end of the infusion tube 12 away from the fixed cylinder 7 is... The cylinder 10, the infusion pipe 12, and the fixed cylinder 7 are all connected to the top of the cylinder 10. The cylinder 10, the infusion pipe 12, and the fixed cylinder 7 are filled with hydraulic oil. When the telescopic probe 8 needs to be extended, the output end of the second hydraulic cylinder 13 extends upwards, pushing the second piston 11 to slide upwards along the inner wall of the cylinder 10, compressing the hydraulic oil in the upper cavity of the cylinder 10. The pressurized hydraulic oil is then transported through the infusion pipe 12 to the upper cavity of the fixed cylinder 7, pushing the first piston 9 to slide downwards along the inner wall of the fixed cylinder 7, thereby causing the telescopic probe 8 to extend axially downwards, completing the extension action of the probe end. When the output end of the second hydraulic cylinder 13 retracts, the second piston 11 moves downwards accordingly, and the hydraulic oil in the fixed cylinder 7 flows back to the cylinder 10 along the infusion pipe 12. The telescopic probe 8 retracts synchronously with the first piston 9 to reset. This hydraulic linkage drive method provides smooth transmission and stable output thrust, is suitable for axial load conditions during soil detection, and has a compact structure, facilitating integration within the limited space inside the mounting frame 4.

[0023] In this embodiment, preferably, a rod body 601 is fixedly installed on the top of the spiral drill rod 6. The top end of the rod body 601 extends into the mounting frame 4, and the rod body 601 is rotatably connected to the mounting frame 4. The rotary drive assembly includes a first gear 14, a second gear 15, and a first motor 16. The first gear 14 is fixedly fitted on the top of the rod body 601, and the first motor 16 is fixedly installed in the mounting frame 4. The second gear 15 is fixedly connected to the output end of the first motor 16, and the first gear 14 and the second gear 15 mesh. During drilling operations, the first motor 16 starts and outputs rotational torque, driving the second gear 15 to rotate synchronously. Through gear meshing, the power is transmitted to the first gear 14, thereby driving the rod body 601 and the spiral drill rod 6 below it to rotate continuously around their own axis. In conjunction with the axial feed action of the hydraulic cylinder 3, the spiral drilling operation is completed.

[0024] In this embodiment, preferably, a top plate 101 is fixedly installed on the top of the driving vehicle body 1, and a supporting outer frame 103 is fixedly installed on the outer side of the top plate 101. The accommodating box 2 is fixedly connected to the supporting outer frame 103. The planting mechanism includes a robotic arm 20 installed on the driving vehicle body 1 and a clamping assembly installed at the end of the robotic arm 20. A carrying plate 39 is fixedly installed on the top of the top plate 101, and a plurality of positioning grooves 3901 are formed on the carrying plate 39. Seedling substrate carrying seedlings is placed one by one in each positioning groove 3901 of the carrying plate 39. The positioning groove 3901 constrains the circumference and bottom of the seedling substrate, preventing the robotic arm 20 from shifting or tipping over during seedling removal. After the drilling mechanism completes the drilling of the cultivation hole, the robotic arm 20 moves the end clamping component above the bearing plate 39, where the clamping component clamps and fixes the target seedling substrate. Subsequently, the robotic arm 20 moves the clamped seedling substrate to the top of the drilled cultivation hole according to a preset trajectory and lowers it, allowing the seedling substrate to fall into the cultivation hole to complete the planting. After the clamping component is released, the robotic arm 20 resets and repeats the seedling removal and planting operation for the next seedling. This structure, by centrally storing the seedling substrate on the bearing plate 39 and cooperating with the robotic arm 20 to automatically remove and transplant seedlings, enables continuous drilling and transplanting operations in barren hillside conditions, reducing manual handling and planting steps, improving planting efficiency and operational consistency. The drive vehicle 1 is equipped with a GPS module and a wireless communication module to facilitate the operation of the remote control device.

[0025] Please see Figure 1 , Figure 2 and Figures 7-10In this embodiment of the invention, the clamping assembly includes a mounting base 21, a motor 22, a drive base 23, drive rods 24, and clamping seats 25. The mounting base 21 is fixedly mounted on the robotic arm 20, and the motor 22 is fixedly mounted on the mounting base 21. The output end of the motor 22 is fixedly connected to the drive base 23. Two drive rods 24 are mounted on the drive base 23, and clamping seats 25 are mounted on the ends of the two drive rods 24 away from the mounting base 21. The drive base 23 is internally provided with a drive structure for driving the two drive rods 24 to move synchronously in opposite directions. The drive structure is existing technology and only needs to be able to achieve synchronous movement of the two drive rods 24 in opposite directions. Arc-shaped clamping plates 26 are fixedly mounted on opposite sides of the two clamping seats 25. The seat 25 is rotatably connected to the drive rod 24. The drive rod 24 is equipped with a locking knob 27 for locking the seat 25. A shearing blade 2501 is located on the side of the seat 25 away from the arc-shaped clamping plate 26. During seedling transplanting, the drive structure outputs power, driving the two drive rods 24 to move synchronously in opposite directions, causing the two seat 25s to move closer together. The arc-shaped clamping plate 26 on the inner side of the seat 25 hugs and adheres to the outer wall of the seedling substrate, forming a stable clamp. This, combined with the robotic arm 20, completes the grasping and transplanting of the seedling substrate. When the device is traveling on barren hillsides or when there are obstacles such as weeds or low branches along the path, the locking knob 27 can be released, allowing the seat 25 to rotate around the rotation axis at the end of the drive rod 24. The shearing blade 2501 rotates to the inner side of the two clamping seats 25, and the arc-shaped clamping plate 26 rotates to the outer side. Tightening the locking knob 27 completes the circumferential fixation of the clamping seats 25. Subsequently, the drive structure drives the two clamping seats 25 to feed towards each other. Through the interaction of the shearing blades 2501 on both sides, obstacles such as weeds and branches are cut off, thus clearing the travel path and preventing vegetation from entanglement and obstruction of the track 102 or the working mechanism. The drive structure inside the drive seat 23 can be implemented using various mature existing technologies. For example, a screw drive structure with a two-way screw and slider can be used. The rotation of the screw drives two sliders fitted with different screw sections to move synchronously in opposite directions, thereby driving the drive rod 24 to open and close. Alternatively, a gear and double-sided rack can be used. The transmission structure is combined, with the active gear driving the parallel racks on both sides to move in opposite directions, realizing the synchronous opening and closing of the drive rod 24; the built-in drive structure of the parallel guide rail electric gripper can also be used, both of which can meet the functional requirements of the two drive rods 24 moving in opposite directions synchronously; the rotation and locking of the clamp 25 are achieved through the cooperation of the rotating joint and the locking structure: the clamp 25 is rotatably connected to the end of the drive rod 24 through the pin, so that the clamp 25 can rotate freely around the pin axis to switch the working surface; the locking knob 27 adopts a threaded locking structure, with its screw section passing through the threaded hole at the end of the drive rod 24. When the locking knob 27 is tightened, the screw end abuts against the rotating mating surface of the clamp 25, and the friction force restricts the circumferential rotation of the clamp 25 to complete the position locking;When the locking knob 27 is loosened, the friction is released, and the clamp 25 can then freely rotate to switch the working positions of the arc-shaped clamp 26 and the shearing blade 2501.

[0026] In this embodiment, preferably, a groove 104 is provided on the top plate 101, and a slide block 17 is slidably installed in the groove 104. The bottom of the robotic arm 20 is fixedly connected to the slide block 17. A drive screw 18 is rotatably installed in the groove 104, passing through the slide block 17 and threadedly connected to the slide block 17. A second motor 19 is fixedly installed on the side wall of the top plate 101, and the output end of the second motor 19 is fixedly connected to the end of the drive screw 18. The bottom of the robotic arm 20 has a hollow design, and the support plate 39 passes through the hollow part at the bottom of the robotic arm 20, so that the support plate 39 does not affect the movement of the robotic arm 20. The second motor 19 can drive the drive screw 18 to rotate. When the drive screw 18 rotates, it drives the slide block 17 to move, thereby driving the robotic arm 20 on the slide block 17 to move, so that the position of the robotic arm 20 can be adjusted. The adjustment facilitates both the planting and clearing processes and adjusts the device's center of gravity. Based on this design, the slide 17 is supported by a high-density metal material, preferably iron. An intelligent control module and a gyroscope are installed inside the drive vehicle 1. The intelligent control module is electrically connected to the gyroscope and motor 19. The gyroscope collects the tilt, pitch, and attitude angular velocity data of the drive vehicle 1 in real time and transmits them to the intelligent control module. When the drive vehicle 1 travels on undulating slopes of barren hills and slopes, and the vehicle body tilts or the center of gravity deviates from the stable range, the intelligent control module generates an adjustment command based on a preset attitude control threshold. This command starts motor 19 and drives the drive screw 18 to rotate. Through the threaded transmission pair between the screw and the slide 17, the slide 17 is driven to translate along the slide groove 104, thereby causing the robotic arm 20 assembly above the slide 17 to move synchronously. Because the slide seat 17 is made of high-density iron, it has a large counterweight mass. The displacement of the slide seat 17 can drive the center of gravity of the whole vehicle to shift synchronously along the direction of the slide groove 104, so that the center of gravity moves to the opposite side of the vehicle body tilt direction, which can offset the center of gravity shift caused by the slope terrain. This keeps the center of gravity of the whole vehicle within the stable range of the ground projection of the track 102, reducing the risk of vehicle rollover and slippage, and improving driving stability and operation safety in complex mountainous terrain. This structure realizes the adjustment of the working position of the robotic arm 20 and the dynamic control of the center of gravity of the whole vehicle through a set of sliding drive mechanism. There is no need to configure an additional independent counterweight adjustment device. The structure has a high degree of integration and is suitable for the changing terrain operation needs of barren mountains and slopes.

[0027] In this embodiment, preferably, the driving vehicle body 1 is provided with multiple vision modules 37, and the clamping assembly is provided with vision modules 38. Both vision modules 37 and 38 adopt industrial-grade integrated vision units, which are packaged with a high-definition wide-angle acquisition camera, an auxiliary lighting unit, and an image transmission module. Vision modules 37 are distributed around the driving vehicle body 1 to acquire a large-scale environmental image of the vehicle's surroundings and the area in front of it, and to identify terrain undulations, obstacle distribution, the location of the area to be drilled, and the growth of weeds along the path, providing image basis for vehicle driving path planning, drilling point positioning, and obstacle clearing action triggering. Vision modules 38 move synchronously with the clamping assembly to acquire local images of the seedling substrate, cultivation holes, and obstacles to be cut at close range, realizing accurate identification of clamping alignment, planting positioning, and cutting targets. Together with the robotic arm 20, they complete refined transplanting and obstacle clearing operations. The dual-level vision configuration can take into account both large-scale environmental perception and close-range operation accuracy, and is suitable for complex operation scenarios on barren hills and slopes.

[0028] In this embodiment, preferably, the supporting outer frame 103 is provided with multiple jet components. Each jet component includes a fixed base 29, a rotating base 30, a jet head 31, and a rotating shaft 32. The fixed base 29 is fixedly connected to the supporting outer frame 103. The rotating base 30 is rotatably connected to the fixed base 29 via the rotating shaft 32, and the rotating shaft 32 is fixedly connected to the rotating base 30. The jet head 31 is fixedly mounted on the rotating base 30. A motor 34 is fixedly mounted on the inner side of the supporting outer frame 103. A worm gear 35 is fixedly mounted on the output end of the motor 34. A worm wheel 33 is fixedly fitted on the rotating shaft 32, and the worm gear 35 meshes with the worm wheel 33. A connection port 36 is provided through the part, which is connected to the jet head 31. An air tank 28 is fixedly installed at the bottom of the drive vehicle body 1, and the air tank 28 is connected to the connection port 36 through an air supply pipe. When adjusting the injection angle, the motor 34 outputs torque to drive the worm 35 to rotate. Through the meshing transmission of the worm 35 and the worm wheel 33, the rotating shaft 32 and the rotating seat 30 are driven to deflect around the fixed seat 29, thereby adjusting the injection direction of the jet head 31. The transmission of the worm 35 and the worm wheel 33 has a self-locking characteristic, and the injection angle can be stably maintained after the adjustment. The through connection port 36 inside the rotating shaft 32 can maintain the air passage connection between the air supply pipe and the jet head 31 in the rotating state. The device operates in two modes: The first is a grass-pressing and obstacle-clearing mode. When the vision module 37 detects dense weeds obstructing the view or easily tangling the walking mechanism ahead, the air tank 28 outputs high-pressure airflow, which is delivered to the jet nozzle 31 via the air pipe and connector 36 and sprayed forward and downward, pressing the upright weeds flat onto the ground and widening the driving field of vision. Simultaneously, it can be used in conjunction with the clamping component's shearing operation, first pressing and then shearing, improving the efficiency of clearing large branches and dense weeds. The second is a posture-assisted escape mode. When the gyroscope detects that the vehicle's tilt angle exceeds the safety threshold, or that one side of the track 102 slips or gets stuck, the intelligent control module controls the jet nozzle 31 to deflect downwards. The air tank 28 releases high-pressure airflow downwards to impact the ground, generating a reverse lifting force to assist in lifting the tilted side of the vehicle. Simultaneously, it can be used in conjunction with the lifting action of the robotic arm 20 supporting the ground to correct the vehicle's posture and assist in escaping stuck conditions, effectively improving the device's ability to pass through complex terrain such as barren hills and slopes and its operational stability.

[0029] The intelligent control module, as the core control unit of the entire vehicle, is electrically connected to the control valve group of the gyroscope, vision module 1 (37), vision module 2 (38), pressure sensor 5, motor 1 (16), motor 2 (19), motor 3 (22), motor 4 (34), hydraulic cylinder 1 (3), hydraulic cylinder 2 (13), and air tank 28. During the operation of the device, the intelligent control module receives image information of the surrounding terrain, path obstacles, and work area collected by vision module 1 (37), and combines it with the real-time pitch and roll attitude data of the vehicle body from the gyroscope to control the direction and speed of the driving vehicle 1. Simultaneously, based on the vehicle's tilt angle, the output command controls motor 219 to drive the drive screw 18 to rotate, causing the slide block 17 and robotic arm 20 assembly to translate along the slide groove 104 to adjust the vehicle's center of gravity and maintain driving stability. After reaching the preset planting point, the intelligent control module first controls hydraulic cylinder 213 to drive the telescopic probe 8 to extend, and then controls hydraulic cylinder 13 to drive the mounting frame 4 to move downward. At the same time, it receives axial load data collected in real time by pressure sensor 5, and determines whether there are underground obstacles at the drilling point based on the pressure threshold. After determining that there are no obstacles, it controls motor 116 to drive the auger drill rod. 6. Rotation, in conjunction with the feed of hydraulic cylinder 3, completes the drilling of cultivation holes; after drilling, the intelligent control module controls motor 19 to adjust the lateral position of the robotic arm 20, and uses the near-field image recognition of vision module 38 to locate the seedling substrate on the support plate 39 and the drilled cultivation holes, controlling the robotic arm 20 to move the clamping assembly, and coordinating with motor 22 to drive the clamping seat 25 to open and close to complete the grasping, transfer and planting of the seedling substrate; when the vision module detects weeds or branches obstructing the travel path, the intelligent control module can control motor 34 to drive the jet assembly to deflect to At the corresponding angle, the gas tank 28 is opened to output high-pressure airflow to suppress weeds, or the clamping component is controlled to rotate and switch to the shearing blade 2501 working condition to complete obstacle shearing; when the gyroscope detects that the vehicle body tilt exceeds the safety threshold or the track 102 becomes stuck, the intelligent control module controls the jet head 31 to turn downward to spray high-pressure airflow to generate reverse lifting force, which is coordinated with the lifting action of the end of the robotic arm 20 supporting the ground to assist the vehicle body in correcting its posture and getting out of the stuck working condition, thereby realizing the intelligent collaborative control of the entire process of driving, drilling, transplanting, clearing obstacles and getting out of trouble in barren mountain and slope environment.

[0030] This invention also discloses a method for planting on barren hillsides, comprising the following steps: S1. Drive the vehicle body 1 to the planting area on the barren hillside via the track 102 to complete the positioning of the drilling points; S2. Control the lifting drive component to output action, drive the telescopic probe 8 to move downward along the hollow channel 602 inside the auger rod 6, so that the bottom end of the telescopic probe 8 protrudes from the bottom end face of the auger rod 6. S3. Control the output end of hydraulic cylinder 3 to extend downward, push the mounting frame 4 to feed downward along the inside of the housing box 2, so that the telescopic probe 8 extends into the soil at the drilling point. During the feeding process, the axial pressure data between the output end of hydraulic cylinder 3 and the mounting frame 4 is collected in real time by pressure sensor 5. S4. When the pressure value detected by the pressure sensor 5 exceeds the preset threshold, it is determined that there is a hard underground obstacle at the point. The hydraulic cylinder 3 is controlled to drive the mounting frame 4 and the telescopic probe 8 to retract upward. After adjusting the drilling point by driving the vehicle body 1, S2 to S3 are repeated to re-detect. When the pressure value detected by the pressure sensor 5 is within the preset normal range, it is determined that there is no obstacle in the drilling path at the point. S5. Start the rotary drive assembly in the mounting frame 4 to drive the auger drill rod 6 to rotate around its own axis. At the same time, control the hydraulic cylinder 3 to continuously feed downwards so that the auger drill rod 6 drills the soil to form a cultivation hole. During the drilling process, the pressure sensor 5 continuously monitors the axial drilling load and adjusts the feed speed of the hydraulic cylinder 3 according to the load change. S6. After drilling is completed, control the hydraulic cylinder 3 to retract and drive the spiral drill rod 6 out of the cultivation hole. Then, through the planting mechanism on the drive vehicle 1, the seedling is placed into the cultivation hole to complete the single-plant planting operation.

[0031] The above description is only a preferred embodiment of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included in the scope of this patent application.

Claims

1. A smart agricultural power machine for planting on barren hillsides, comprising a drive vehicle body (1), a planting mechanism mounted on the drive vehicle body (1), and a drilling mechanism mounted at the rear end of the drive vehicle body (1), wherein the bottom of the drive vehicle body (1) is provided with tracks (102), characterized in that: The drilling mechanism includes a housing (2), a hydraulic cylinder (3) fixedly installed on the top wall of the housing (2), a mounting frame (4) set inside the housing (2), and a spiral drill rod (6) set below the mounting frame (4). The mounting frame (4) is provided with a rotary drive assembly for driving the spiral drill rod (6) to rotate. A pressure sensor (5) is fixedly installed at the output end of the hydraulic cylinder (3). The detection end of the pressure sensor (5) is fixedly connected to the top wall of the mounting frame (4). A hollow channel (602) is provided through the spiral drill rod (6). A telescopic probe (8) is movably arranged inside the hollow channel (602). A lifting drive assembly for driving the telescopic probe (8) to rise and fall is provided inside the mounting frame (4).

2. The intelligent agricultural power machinery for planting on barren hillsides according to claim 1, characterized in that: The lifting drive assembly includes a fixed cylinder (7), a piston (9), and an infusion tube (12). The top end of the fixed cylinder (7) is fixedly connected to the top inner wall of the mounting frame (4). The piston (9) is slidably installed inside the fixed cylinder (7). The top end of the telescopic probe (8) extends into the fixed cylinder (7) and is fixedly connected to the piston (9). One end of the infusion tube (12) is connected to the top of the fixed cylinder (7).

3. The intelligent agricultural power machinery for planting on barren hillsides according to claim 2, characterized in that: A cylinder (10) is fixedly installed inside the mounting frame (4). A hydraulic cylinder (13) is fixedly installed on the lower surface of the cylinder (10). A piston (11) is slidably installed inside the cylinder (10). The output end of the hydraulic cylinder (13) is fixedly connected to the piston (11). The end of the infusion pipe (12) away from the fixed cylinder (7) is connected to the top of the cylinder (10). The cylinder (10), the infusion pipe (12) and the fixed cylinder (7) are filled with hydraulic oil.

4. The intelligent agricultural power machinery for planting on barren hillsides according to claim 1, characterized in that: The top of the auger drill rod (6) is fixedly provided with a rod body (601). The top end of the rod body (601) extends into the mounting frame (4), and the rod body (601) is rotatably connected to the mounting frame (4). The rotary drive assembly includes a gear one (14), a gear two (15), and a motor one (16). The gear one (14) is fixedly fitted on the top of the rod body (601). The motor one (16) is fixedly installed in the mounting frame (4). The gear two (15) is fixedly connected to the output end of the motor one (16). The gear one (14) and the gear two (15) mesh with each other.

5. The intelligent agricultural power machinery for planting on barren hillsides according to claim 1, characterized in that: A top plate (101) is fixedly installed on the top of the driving vehicle body (1), and a support frame (103) is fixedly installed on the outer side of the top plate (101). The accommodating box (2) is fixedly connected to the support frame (103). The planting mechanism includes a mechanical arm (20) installed on the driving vehicle body (1) and a clamping assembly installed at the end of the mechanical arm (20). A bearing plate (39) is fixedly installed on the top of the top plate (101), and multiple positioning grooves (3901) are provided on the bearing plate (39).

6. The intelligent agricultural power machinery for planting on barren hillsides according to claim 5, characterized in that: The clamping assembly includes a mounting base (21), a third motor (22), a drive base (23), a drive rod (24), and a clamp (25). The mounting base (21) is fixedly mounted on the robotic arm (20). The third motor (22) is fixedly mounted on the mounting base (21). The output end of the third motor (22) is fixedly connected to the drive base (23). Two drive rods (24) are mounted on the drive base (23). A clamp (25) is mounted on the end of each drive rod (24) away from the mounting base (21). The drive base (23) is internally provided with a drive structure for driving the two drive rods (24) to move synchronously in opposite directions. An arc-shaped clamp (26) is fixedly mounted on the opposite side of each of the two clamps (25).

7. The intelligent agricultural power machinery for planting on barren hillsides according to claim 6, characterized in that: The clamp (25) is rotatably connected to the drive rod (24), and the drive rod (24) is provided with a locking knob (27) for locking the clamp (25). The clamp (25) is provided with a shearing blade (2501) on the side away from the arc-shaped clamp (26).

8. The intelligent agricultural power machinery for planting on barren hillsides according to claim 5, characterized in that: A sliding groove (104) is provided on the top plate (101), and a sliding block (17) is slidably installed in the sliding groove (104). The bottom of the robotic arm (20) is fixedly connected to the sliding block (17). A drive screw (18) is rotatably installed in the sliding groove (104). The drive screw (18) passes through the sliding block (17) and is threadedly connected to the sliding block (17). A second motor (19) is fixedly installed on the side wall of the top plate (101). The output end of the second motor (19) is fixedly connected to the end of the drive screw (18).

9. The intelligent agricultural power machinery for planting on barren hillsides according to claim 5, characterized in that: The supporting outer frame (103) is provided with multiple jet assembly components, each jet assembly including a fixed base (29), a rotating base (30), a jet head (31), and a rotating shaft (32). The fixed base (29) is fixedly connected to the supporting outer frame (103), the rotating base (30) is rotatably connected to the fixed base (29) via the rotating shaft (32), and the rotating shaft (32) is fixedly connected to the rotating base (30). The jet head (31) is fixedly mounted on the rotating base (30). The supporting outer frame (103) A motor (34) is fixedly installed on the inner side of the shaft (32), and a worm (35) is fixedly installed at the output end of the motor (34). A worm wheel (33) is fixedly fitted on the shaft (32), and the worm (35) meshes with the worm wheel (33). A connection port (36) is provided through the inside of the shaft (32), and the connection port (36) is connected to the jet head (31). An air tank (28) is fixedly installed at the bottom of the drive vehicle body (1), and the air tank (28) is connected to the connection port (36) through an air supply pipe.

10. A method for planting on barren hills and slopes, employing the intelligent agricultural power machinery for planting on barren hills and slopes as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Drive the vehicle body (1) to travel to the barren hillside to be planted via the tracks (102) and complete the positioning of the drilling points; S2. Control the output action of the lifting drive component to drive the telescopic probe (8) to move downward along the hollow channel (602) inside the spiral drill rod (6), so that the bottom end of the telescopic probe (8) protrudes from the bottom end face of the spiral drill rod (6); S3. Control the output end of hydraulic cylinder one (3) to extend downward and push the mounting frame (4) to feed downward along the inside of the accommodating box (2), so that the telescopic probe (8) extends into the soil of the drilling point. During the feeding process, the axial pressure data between the output end of hydraulic cylinder one (3) and the mounting frame (4) is collected in real time by the pressure sensor (5). S4. When the pressure value detected by the pressure sensor (5) exceeds the preset threshold, it is determined that there is a hard underground obstacle at the point. The hydraulic cylinder (3) is controlled to drive the mounting frame (4) and the telescopic probe (8) to retract upward. The drilling point is adjusted by the drive vehicle (1) and then S2 to S3 are repeated to re-detect. When the pressure value detected by the pressure sensor (5) is within the preset normal range, it is determined that there is no obstacle in the drilling path at the point. S5. Start the rotary drive assembly in the mounting frame (4) to drive the auger rod (6) to rotate around its own axis, while controlling the hydraulic cylinder (3) to continuously feed downwards, so that the auger rod (6) drills the soil to form a cultivation hole. During the drilling process, the pressure sensor (5) continuously monitors the axial drilling load and adjusts the feed speed of the hydraulic cylinder (3) according to the load change. S6. After drilling is completed, control the hydraulic cylinder (3) to retract and drive the spiral drill rod (6) out of the cultivation hole. The seedling is placed into the cultivation hole through the planting mechanism on the drive vehicle (1) to complete the single-plant planting operation.

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